CAJ | 학술논문

针对水下机器人水下航行时节约能源、减小阻力、提高航速的要求，采用数学线型设计方法，研究了水下机器人回转体外形优化。在排水量相同的条件下，应用流体计算软件Fluent计算并比较了几种不同回转体线型构造的水下机器人直航阻力，根据阻力最小原则并考虑内部元器件布置的空间需求，选择Myring线型方程构建水下机器人外形。根据两个型值点并应用软件Visual C＋＋，确定了Myring线型方程中首部锐度因子和尾部离去角两个参数，进而完成了符合机器人自身情况的外形优化设计。研究结果可达到降低水下机器人流线型回转体阻力、改善水动力性能的目的。
침대수하궤기인수하항행시절약능원、감소조력、제고항속적요구，채용수학선형설계방법，연구료수하궤기인회전체외형우화。재배수량상동적조건하，응용류체계산연건Fluent계산병비교료궤충불동회전체선형구조적수하궤기인직항조력，근거조력최소원칙병고필내부원기건포치적공간수구，선택Myring선형방정구건수하궤기인외형。근거량개형치점병응용연건Visual C＋＋，학정료Myring선형방정중수부예도인자화미부리거각량개삼수，진이완성료부합궤기인자신정황적외형우화설계。연구결과가체도강저수하궤기인류선형회전체조력、개선수동력성능적목적。
In the process of the underwater robot sailing,aiming at the requests for energy savings,reducing resistance and im-proving the speed,mathematical linetypes based design method was adopted to investigate shape optimal design of underwater robot. Under the conditions of the same displacement,adopting fluid calculation software Fluent,compare of linear sailing resistance of un-derwater robots structured separately by four different linetypes was executed. According to the principle of least resistance,considering the space requirements of the internal components layout,Myring linear equations were selected to build shape of underwater robot. Ac-cording to the two data points,adopting software Visual C+ +,the head sharpness factor and tail departure angle in Myring linetype equation were determined. After the two exterior parameters determined,shape optimal design of underwater robot was completed. The research results can reach to purposes for reducing the sailing resistance and improving the hydrodynamic performance of underwater ro-bot.